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This paper investigates the path tracking problem for an electric vehicle (EV) which has four electromechanical wheel systems under normal and faulty conditions. With considering wheel slip constraints and certain actuator faults, a fault-tolerant controller with observer-based fault diagnosis is designed to maintain the system stability and guaran...
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... can be seen that f1, f3 are all unknown in the above equation, so a virtual fault should be added to obtain another equation to solve the two unknown parameters. Based on the control structure, see Fig.2, as the motor control gain can be changed by multiplying the control signal by a positive value λ, after the additional fault is added, one has ...
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Citations
... Another potential application of signal-based techniques for fault diagnosis of autonomous vehicles is active fault diagnosis (AFD), where a suitably designed input signal is allowed to be injected into the dynamic processes so that faulty modes can be distinguished from normal modes, improving the detectability of potential faults (Gao, Cecati, & Ding, 2015b;Puncochar & Skach, 2018). To instantiate, Zhang et al. (2013) proposed an active fault diagnosis approach to isolate and evaluate the fault in the wheel system of the vehicle. Lopes & Araujo (2020) presented an active fault diagnosis method for the detection and identification of faults of vehicles in a platoon formation, where a probing signal was introduced as an auxiliary input that would be actively excited when necessary. ...
Unmanned underwater vehicles operate in unstructured and harsh environments, and fault diagnosis together with fault tolerant control play a crucial role to prevent the mission from failing. When a fault occurs in presence of unknown disturbances, such as unknown marine current or hitting an obstacle, actuator fault diagnosis becomes more challenging, because the unexpected forces that arise from disturbances may be mistaken for actuator faults. In this paper, we propose an active fault diagnosis method to discern between an actuator fault and any other disturbance: the former is modelled as a multiplicative input fault, and the latter is an unknown, additive, time varying force. Once the actuator faults have been isolated and identified, their estimations are fed to the control allocation algorithm to perform fault tolerant control allocation. Simulation results are performed with a realistic non-linear model to show the effectiveness of the proposed strategy.
The various international standards require automakers to optimize conventional power train but mainly to develop other alternatives to drive, one of the most promising is the electric vehicle. However, these new drives should guarantee the same performance and the same level of dependability (reliability and security in this case).Electric power train is built around a large number of components (electrical machine, the sensor, the converter, power electronics, etc.) which may be affected by defects. The detection and localization of these defects are essential but not sufficient to ensure the dependability of the system. Indeed, to ensure operation in degraded mode, you must implement architecture of fault tolerant control (FTC). The main objective of this thesis is to propose new fault tolerant control architectures of an electric vehicle induction machine power train in the presence of several types of mechanical sensor failure. This thesis is organized into four chapters.Chapter 1 is a comprehensive state of the art with a critical analysis of architectures and control systems tolerant to faults of electric powertrains and a state of the art of the various defects that may occur in the chain of electric traction.Chapter 2 proposes two architectures of fault tolerant control: Hybrid FTC and GIMC (Generalised Internal Model Control); Hybrid FTC approach is a combination of two controllers, the first is a PI controller for the sound mode and the second a robust controller for the failed H infinity mode. The architecture allows GIMC restructuring the control law in an adaptive manner. It is designed to ensure robustness of the system in the presence of a fault with an inner loop acting loop correction and diagnosis.Chapter 3 is devoted exclusively to the algorithm voting fault tolerant control based on comparative study of four algorithms with three different topologies: a first structure is proposed on the system output, a second structure is applied system control, and the third structure is a two preceding hybridization.Chapter 4 is devoted to the experimental validation of the architecture described above. The results show the effectiveness of the approaches proposed FTC.
